| 摘要 |
<p>PURPOSE:To improve the window panel assembling accuracy without being affected by the assembly error between a body and a panel by correcting window panel fitting positions in two stages with fixed visual sensors on the conveyor side and a movable visual sensor on a robot hand. CONSTITUTION:The lower end edge of a hood ridge panel F of a body B is detected by cameras 9, 10 serving as the first visual sensors on the conveyor 1 side to determine correction quantities in the height direction and around the Y-axis, and the detection position of a car body opening section O, the subject of detection, is corrected by a camera 13 serving as the second visual sensor on a robot hand 5. The edge section of the car body opening section O where a window glass G is assembled is detected by the camera 13 to determine correction quantities in the car width direction and around the Z-axis, and the position of a window glass G supported by a robot 3 is corrected for assembly in response to the correction quantities respectively. Accordingly, the assembling accuracy can be improved without being affected by the assembly error between the body B and window glass G.</p> |
